Path Planning for Palletizing Robot Using Hierarchical Markov Decision Process

基於分層Markov決策的碼垛機器人路徑規劃

劉久富(Jiu-Fu Liu) ； 高蕾(Lei Gao) ； 孫燕(Yan Sun) ； 周建勇(Jian-Yong Zhou) ； 劉文良(Wen-Liang Liu) ； 楊忠(Zhong Yang) ； 武書彥(Shu-Yan Wu)

《中國機械工程學刊》 35卷6期 (2014/12) Pp. 477-483

摘要

針對碼垛機器人應用環境狀況較復雜、不確定條件較多的問題，使用基於分層Markov對策的算法對多關節碼垛機器人進行路徑規劃。首先根據實際的工作環境設定機器人的運動範圍，並選擇經常出現的動作組合作為機器人運動的基本行為集，給出各種情況可能獲得的報酬值，反解出對應最大報酬值的動作組合，選擇部分動作組合可以減少各關節之間的協調關系，降低算法的復雜度。仿真繪制出最佳動作組合時的運動軌跡，以及機器人運動環境中無障礙與放置球形障礙物時的三維運動軌跡，並確定軌跡的誤差。最後經過實驗驗證表明，算法能有效地控制各個關節的協調運動，實際運動的誤差在允許的範圍內，滿足使用要求。

並列摘要

On account of the complex application environment and the large number of uncertain conditions for the palletizing robot, we do path-planning for the multiple joints robot by the algorithm based on Hierarchical Markov Decision Process. First, according to the actual working environment, we set the range of the robot’s motion and select the conventional movement combination as the basic set of the robot’s behaviors. We can get the possible reward of various situations. We divide the state space in accordance with the location information of the obstacle space into a small number of state clusters, sub-level step by step to determine the precise trajectory of palletizing robots. We simulate 3D robot motion trajectory, including barrier-free and spherical obstacle conditions. Finally, experimental verification is carried out, the algorithm has been proved to control the compatible movements of each joint effectively and keep the error within the allowed range. The experiment results meet the requirement well.

並列關鍵字

Palletizing robot ； path planning ； Hierarchical Markov Decision Process ； state clustering